![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
Diff: Schedule/Schedule.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Schedule/Schedule.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,97 @@ +typedef unsigned int tick; +typedef int value; +typedef char flag; + +/** Simple library for scheduling events by polling time, that is, avoiding interrupts. + * Can schedule up to 64 events. The schedule is defined by the number of ticks making + * up the initial period of the schedule, and either a start and end value or values + * at specific tick values. + */ +class Schedule { + public: + /** Sets the behavior of getNext() after the initial schedule period has exceeded. + * + * @param repeat means the schedule values are repeated + * @param hold means the last schedule value is provided after the schdule is done + */ + enum { repeat=0x02, hold=0x04 }; + + /** Creates an empty schedule + */ + Schedule(); + + /** Creates a schedule based on a linear function. See set() + * + * @param scale + * @param max the maximum tick value of the clock, sets the period + * @param start is the value returned at tick == 0 + * @param stop is the value returned at tick == ticks-1 + * @param m selects the mode / behavior of the schedule when getNext() called after period exceeded + */ + Schedule(unsigned int scale, tick max, value start, value stop, flag m); + + /** Sets a ratio of time to ticks. See clockTicked() + * + * @param timePerTick specifies the number of time units per tick + */ + void scale(unsigned int scale); + + /** Sets the total number of ticks to run the loop + */ + void max(tick max); + + /** Sets behavior of getNext() when called after tickCount exceeded + */ + void mode(flag m); + + /** sets the value at the specified tick + * + * @param t specifies the scheduled tick + * @param v specifies the value to return when tick==whichTick + */ + void set(tick t, value v); + + /** Set schedule based on a linear function + * + * @param ticks total number of ticks over which the schedule is valid + * @param startValue is the value returned at tick == 0 + * @param stopValue is the value returned at tick == ticks-1 + */ + void set(unsigned int scale, tick max, value start, value stop, flag m); + + /** get the next value for schedule's current time. Use with ticked() + * + * @returns the value at the current schedule's time + */ + value get(); + + /** increment the clock and get the next value in the schedule + * + * @returns the value at the schedule's next clock tick + */ + value next(); + + /** Pass in some unit of time and determine if the 'clock' has ticked. + * Suppose timePerTick == 20 and you pass in the elapsed time in milliseconds + * then this function returns true every 20ms. + * + * @param time the integer corresponding to elapsed time + * @returns true if the elapsed time % timePerTick == 0 + */ + bool ticked(unsigned int time); + + /** Are we done with the schedule? + * + * @returns true if schedule is done; see max() + */ + bool done(); + + private: + unsigned int _scale; + tick _max; + tick _clock; + flag _mode; + int _schedule[64]; + bool _validTick(tick t); +}; + \ No newline at end of file